Delta Tau Geo Brick Lv Users Manual User

2015-07-14

• Introduction
  • Documentation
  • Downloadable Turbo PMAC Script
• Specifications
  • Part Number
  • Geo Brick LV Options
    • CPU Options
    • Encoder Feedback Type
    • Axes Power
    • Encoder Input
    • Digital Inputs/Outputs
    • Analog Inputs, DAC Outputs, Brakes, and Relays
    • Communication
    • Fieldbus Connectivity
  • Environmental Specifications
  • Electrical Specifications
• Receiving, Unpacking, and Mounting
  • Use of Equipment
  • Mounting
  • Connector Locations
  • CAD Drawing
• PinOuts and Software Setup
  • TB1: 24VDC Logic Input
  • TB3: Safe Torque Off (STO)
    • Dynamic Braking
    • Disabling the STO
    • Wiring and Using the STO
  • J1: DC Bus Input
    • Power On/Off Sequence
  • J4: Limits, Flags, EQU [Axis 1- 4]
  • J5: Limits, Flags, EQU [Axis 5- 8]
    • Wiring the Limits and Flags
    • Limits and Flags [Axis 1- 4] Suggested M-Variables
    • Limits and Flags [Axis 5- 8] Suggested M-Variables
  • J6: General Purpose Inputs and Outputs
  • J7: General Purpose Inputs and Outputs (Additional)
    • About the Digital Inputs and Outputs
      • Inputs
      • Outputs
    • Wiring the Digital Inputs and Outputs
    • General Purpose I/Os (J6) Suggested M-Variables
    • General Purpose I/Os Additional (J7) Suggested M-Variables
  • J8: PWM Amplifier Interface
  • J9: Handwheel and Analog I/O
    • Setting up the Analog Inputs (J9)
      • J9 Analog Inputs Suggested M-Variables
      • Testing The J9 Analog Inputs
    • Setting up the Analog Output (J9)
      • J9 Analog Output Suggested M-Variable
      • Testing the J9 Analog Output
    • Setting up Pulse and Direction Output PFM (J9)
      • Testing the J9 PFM Output
    • Setting up the Handwheel Port (J9)
  • X1-X8: Encoder Feedback, Digital A Quad B
    • Setting up Quadrature Encoders
    • Encoder Count Error (Mxx18)
    • Encoder Loss Detection, Quadrature
      • Encoder Loss Example PLC:
    • Step and Direction PFM Output (To External Stepper Amplifier)
      • PFM Clock Settings Example
      • Ch. 5-8 PFM Setup Example
      • Writing directly to the PFM register
      • Issuing Open-Loop Commands
      • Issuing Closed-Loop Commands
  • X1-X8: Encoder Feedback, Sinusoidal
    • Setting up Sinusoidal Encoders
    • Counts per User Units
    • Encoder Count Error (Mxx18)
    • Encoder Loss Detection, Sinusoidal
  • X1-X8: Encoder Feedback, Resolver
    • Setting up Resolvers
    • Resolver Excitation Magnitude
    • Resolver Excitation Frequency
      • Resolver Data Registers
      • Encoder Conversion Table Processing
      • Calculating the Tracking Filter Gains
      • Motors 1-8 Resolver Encoder Conversion Table Setup Example
      • Position, Velocity Feedback Pointers
      • Resolver Power-On PLC Example
  • X1-X8: Encoder Feedback, HiperFace
    • Setting up HiperFace On-Going Position
      • Counts Per Revolution:
    • Setting up HiperFace Absolute Power-On Position
      • Global Control Registers
      • Channel Control Registers
      • HiperFace Data Registers
    • Setting up HiperFace Encoders Example
      • Using the Absolute Position Read Example PLC
    • Encoder Count Error (Mxx18)
    • Encoder Loss Detection, Sinusoidal
      • Encoder Loss Example PLC:
  • X1-X8: Encoder Feedback, SSI
    • Configuring SSI
      • Global Control Registers
      • Channel Control Registers
      • SSI Data Registers
    • SSI Control Registers Setup Example
      • Global Control Register
      • Channel Control Register
      • Control Registers Power-On PLC
  • X1-X8: Encoder Feedback, EnDat 2.1/2.2
    • Configuring EnDat
      • Global Control Registers
      • Channel Control Registers
      • EnDat Data Registers
    • EnDat Control Registers Setup Example
      • Global Control Register
      • Channel Control Register
      • Control Registers Power-On PLC
  • X1-X8: Encoder Feedback, BiSS C/B
    • Configuring BiSS
      • Global Control Registers
      • Channel Control Registers
      • BiSS Data Registers
    • BiSS Control Registers Setup Example
      • Global Control Register
      • Channel Control Register
      • Control Registers Power-On PLC
  • Setting up SSI | EnDat | BiSS
    • Technique 1
    • Technique 2
    • Technique 3
    • Setup Summary
      • Encoder Conversion Table Processing:
      • Commutation Source and Type (for commutated motors, e.g. brushless)
      • Resolution Scale Factor (SF)
      • Commutation Cycle Size
      • Position and Velocity Scale Factors, Position Error Limit
      • Absolute Power-On Position and Phasing
    • Technique 1 Example
      • Encoder Conversion Table - for Position (Technique 1)
      • Counts per User Units (Technique 1)
      • Absolute Power-On Position Read (Technique 1)
    • Technique 2 Example
      • Encoder Conversion Table – for Position (Technique 2)
      • Counts per User Units (Technique 2)
      • Encoder Conversion Table - for Commutation (Technique 2)
      • Absolute Power-On Position Read (Technique 2)
    • Technique 3 Example
      • Encoder Conversion Table - for Position (Technique 3)
      • Counts per User Units (Technique 3)
      • Encoder Conversion Table - for Commutation (Technique 3)
      • Absolute Power-On Position Read (Technique 3)
  • X1-X8: Encoder Feedback, Yaskawa Sigma II & III
    • Global Control Registers
    • Channel Control Registers
    • Yaskawa Feedback Channel Control Power-On Example PLC (Motors 1-8)
    • Yaskawa Data Registers
    • Yaskawa Sigma II 16-Bit Absolute Encoder
      • Encoder Conversion Table Setup (Motors 1-8)
      • Position (Ixx03) and Velocity (Ixx04) Pointers
      • Motor Activation
      • Absolute Power-On Position Read (Yaskawa 16-bit)
    • Yaskawa Sigma II 17-Bit Absolute Encoder
      • Encoder Conversion Table Setup (Motors 1-8)
      • Position (Ixx03) and Velocity (Ixx04) Pointers
      • Motor Activation
      • Absolute Power-On Position Read (Yaskawa 17-bit)
    • Yaskawa Sigma III 20-Bit Absolute Encoder
      • Encoder Conversion Table Setup (Motors 1-8)
      • Position (Ixx03) and Velocity (Ixx04) Pointers
      • Motor Activation
      • Absolute Power-On Position Read (Yaskawa 20-bit)
    • Yaskawa Sigma II 13-Bit Incremental Encoder
      • Encoder Conversion Table Setup (Motors 1-8)
      • Position (Ixx03) and Velocity (Ixx04) Pointers
      • Motor Activation
    • Yaskawa Sigma II 17-Bit Incremental Encoder
      • Encoder Conversion Table Setup (Motors 1-8)
      • Position (Ixx03) and Velocity (Ixx04) Pointers
      • Motor Activation
    • Yaskawa Incremental Encoder Alarm Codes
    • Homing with Yaskawa Incremental Encoders
  • X9-X10: Analog Inputs/Outputs
  • X11-X12: Analog Inputs/Outputs
    • Setting up the Analog (ADC) Inputs
      • Analog Inputs Suggested M-Variables
      • Testing the Analog Inputs
    • Setting up the Analog (DAC) Outputs
      • Analog Outputs Suggested M-Variables:
      • Testing the Analog Outputs
    • Setting up the General Purpose Relay, Brake
      • General Purpose Relay Suggested M-Variables
    • Setting up the External Amplifier Fault Input
      • External Amplifier Fault Input, Suggested M-Variables:
  • X13: USB 2.0 Connector
  • X14: RJ45, Ethernet Connector
  • X15: Watchdog & ABORT (TB2)
    • Wiring the Abort Input
    • Wiring the Watchdog Output
  • RS232: Serial Communication Port
  • AMP1-AMP8: Motor Wiring
    • Stepped Motor Wiring
    • Brushless (Servo) Motor wiring
    • Brush Motor Wiring
  • +5V ENC PWR (Alternate Encoder Power)
    • Wiring the Alternate (+5V) Encoder Power
    • Functionality, Safety Measures
• Motor Type & Protection Power-On PLCs
  • Stepper Motor Power-On PLC Sample
  • Servo (brushless/brush) Motor Power-On PLC Sample
  • Hybrid Motor Power-On PLC Sample
• Motor Setup
  • Motor Setup Flow Chart
  • Dominant Clock Settings
    • Calculating Minimum PWM Frequency
    • Recommended clock Frequencies
    • Clock Calculations
  • Stepper Motor Setup -- Direct Micro-Stepping
    • Before you start
    • Encoder Conversion Table Setup
    • Position, Velocity Pointers: Ixx03, Ixx04
    • Motor Activation, Commutation Enable: Ixx00, Ixx01
    • Command Output Address: Ixx02
    • Current Feedback, ADC Mask, Commutation angle: Ixx82, Ixx84, Ixx72
    • Flag Address, Mode Control: Ixx25, Ixx24
    • Commutation Address, Cycle size: Ixx83, Ixx70, Ixx71
    • Maximum Achievable Motor Speed, Output Command Limit: Ixx69
    • PWM Scale Factor: Ixx66
    • I2T Protection, Magnetization Current: Ixx57, Ixx58, Ixx69, Ixx77
    • Phasing, Power-On Mode: Ixx80, Ixx73, Ixx74, Ixx81, Ixx91
    • Position-Loop PID Gains: Ixx30…Ixx39
    • Current-Loop Gains: Ixx61, Ixx62, Ixx76
    • Number of Counts per Revolution (Stepper Motors)
  • Brushless Motor Setup
    • Before you start
    • Flag Control, Commutation Angle, Current Mask: Ixx24, Ixx72, Ixx84
    • PWM Scale Factor: Ixx66
    • Current Feedback Address: Ixx82
    • Commutation Position Address, Commutation Enable: Ixx83, Ixx01
      • Quadrature / Sinusoidal / HiperFace
      • SSI / EnDat / BiSS
      • Resolver
      • Yaskawa
    • I2T Protection: Ixx57, Ixx58, Ixx69
    • Commutation Cycle Size: Ixx70, Ixx71
      • Ixx71 Saturation
    • ADC Offsets: Ixx29, Ixx79
    • Current-Loop Gains: Ixx61, Ixx62, Ixx76
    • Motor Phasing, Power-On Mode: Ixx73, Ixx74, Ixx80, Ixx81, Ixx91
      • Manual | Custom Phasing
      • 2-Guess Phasing Method
      • Stepper Phasing Method
      • Hall Effect Phasing: Digital quadrature encoders
        • Fine Phasing
      • Hall Effect Phasing: Yaskawa Incremental encoders
      • Absolute Power-On Phasing: HiperFace
        • Using the Absolute Power-On Phasing Example PLC
      • Absolute Power-On Phasing: EnDat | SSI | BiSS
      • Absolute Power-On Phasing: Yaskawa absolute encoders
    • Open-Loop Test, Encoder Decode: I7mn0
    • Position-Loop PID Gains: Ixx30…Ixx39
  • DC Brush Motor Software Setup
    • Before you start
    • Phasing Search Error Bit, Current-Loop Integrator Output (Ixx96)
    • Flags, Commutation, Phase Angle, ADC Mask: Ixx24, Ixx01, Ixx72, Ixx84
    • PWM Scale Factor: Ixx66
    • Current Feedback Address: Ixx82
    • Commutation Cycle Size: Ixx70, Ixx71
    • I2T Protection, Magnetization Current: Ixx57, Ixx58, Ixx69, Ixx77
    • ADC Offsets: Ixx29, Ixx79
    • Current-Loop Gains, Open-Loop/Enc. Decode: Ixx61, Ixx62, Ixx76, I7mn0
    • Position-Loop PID Gains: Ixx30…Ixx39
• MACRO Connectivity
  • Introduction to MACRO
  • MACRO Configuration Examples
    • Review: MACRO Nodes and Addressing
    • Review: MACRO Auxiliary Commands
  • Configuration Example 1: Brick – Brick (Servo Motors)
    • Setting up the Slave in Torque Mode
      • Slave Handshaking PLC Example: Phase then kill Motor#1
      • Note about Slave Motors’ I2T
    • Setting up the Master in Torque Mode
    • Setting up the Slave in PWM Mode
    • Setting up the Master in PWM Mode
  • Configuration Example 2: Brick – Brick (Stepper Motors)
    • Setting up the Slave in Torque Mode for Steppers
      • Slave Handshaking PLC Example: Phase then kill Motor #1
    • Setting up the Master in Torque Mode for Steppers
  • Configuration Example 3: Brick – Geo MACRO Drive
  • Brick – Brick MACRO I/O Data Transfer
    • Transferring the Digital (Discrete) Input and Outputs
      • Slave Digital I/Os Transfer Example
      • Master Digital I/Os Transfer Example
      • Bitwise Assignments (downloaded onto the master)
    • Transferring The X9-X12 Analog Inputs/Outputs
    • Transferring The J9 Analog Inputs
  • MACRO Limits, Flags and Homing
    • Limits and Flags
    • Homing from Master
    • Homing from Slave
    • MACRO Suggested M-Variables
  • Absolute Position Reporting Over MACRO
  • MACRO Configuration Power-Up Sequence
• Troubleshooting
  • Serial Number and Board Revisions Identification
  • D1: Error Codes
  • Strobe Word and Axes Data Structures
    • Strobe Word Structure
    • ADC A Status Word
    • ADC B Status Word
  • LED Status
  • Boot Switch SW (Firmware Reload) – Write-Protect Disable
    • Reloading PMAC firmware
    • Changing IP Address, Gateway IP, Or Gateway Mask
    • Enabling ModBus
    • Reloading Boot And Communication Firmware
  • Reset Switch SW (Factory Reset)
  • Error 18 (Erro18)
  • Watchdog Timer Trip
• Appendix A
  • D-Sub Connector Spacing Specifications
    • X1-X8: DA-15 Connectors for encoder feedback
    • X9-12: DE-9 Connectors for Analog I/O
    • Screw Lock Size for all D-sub connectors
• Appendix B
  • Control Board Jumpers (For Internal Use)
    • E6 – E9: AENA/GPIO Selection Jumper
    • E10 – E12: Power-Up/Reset Load Source
    • E13: Firmware Reload Enable (BOOT SW)
    • E14: Watchdog Disable Jumper
    • E25-28: Select Encoder Index input or AENA output (channels 1-4)
    • E35-38: Select Encoder Index input or AENA output (channels 5-8)
    • E40: USB/Ethernet Communication Firmware Load Enable
• Appendix C
  • Schematic Samples
    • Watchdog: X15
    • Inputs: J6 & J7
    • Outputs: J6 & J7 (603793 – 109 and earlier)
    • Outputs: J6 & J7 (603793 – 10A and later)
    • Limits & Flags: J4
• Appendix D
  • Absolute Serial Encoders Limitation with Turbo PMAC
    • Quick Comparison
    • Resolution Scale Factor (SF)
    • Maximum “Actual” Open-Loop Velocity
    • Maximum “Commanded” Closed-Loop Velocity
    • Maximum Motor Travel